JP2020159768A - Navigation device - Google Patents

Abstract

To provide a navigation device for effectively guiding a driver through a route to a destination so as to cause him/her to easily arrive at the destination without deviating from the set route.SOLUTION: A navigation device 1 includes: a route setting section 31 for setting a route from a present position to a destination; and a three-dimensional virtual vehicle generation section 32 for generating such a three-dimensional virtual vehicle that a vehicle traveling on the route set by the route setting section 31 is virtually displayed in a three-dimensional manner, so as to output it in front of a driver in such a manner that the three-dimensional virtual vehicle travels on the route ahead of an own vehicle.SELECTED DRAWING: Figure 3

Description

The present invention relates to a navigation device.

Conventionally, a navigation device searches for a route from a current position to a destination based on positioning information received from GPS satellites and a database such as map information and facility information stored in a storage medium such as an HDD. The route is displayed on the display (see, for example, Patent Document 1).

JP-A-2002-5670

By the way, the above-mentioned navigation device generally displays a traveling direction with a simple figure such as an arrow to guide the user. Therefore, for example, a person who is not good at driving a car or a person who does not usually drive a car may miss the route guidance of the navigation device due to tension or the like, and may deviate from the set route.

The navigation device according to one aspect of the present invention generates a route setting unit that sets a route from the current position to the destination and a virtual vehicle that virtually displays a vehicle traveling on the route set by the route setting unit. It is provided with a three-dimensional virtual vehicle generation unit that outputs in front of the driver so that the virtual vehicle travels on the route in front of the own vehicle.

According to the present invention, it is possible to effectively guide the driver to the route to the destination and easily reach the destination without deviating from the set route.

The schematic block diagram which shows an example of the arrangement position in the vehicle of the vehicle-mounted terminal which constitutes the navigation device which concerns on embodiment of this invention. The block diagram which shows the main part structure of the in-vehicle terminal which comprises the navigation device which concerns on this embodiment. FIG. 2 is a block diagram showing a main configuration of a calculation unit of an in-vehicle terminal shown in FIG. The figure explaining an example of the route guidance displayed on the 1st display part shown in FIG. The figure explaining an example of the route guidance displayed on the 2nd display part shown in FIG. The figure which shows the sudden braking operation of the 3D virtual vehicle displayed on the 1st display part. The figure which shows the sudden braking operation of the 3D virtual vehicle displayed on the 2nd display part. The figure which shows the state which the 3D virtual vehicle displayed on the 1st display part turns on a brake light. The figure which shows the state which the 3D virtual vehicle displayed on the 2nd display part turns on a brake light. The figure which shows the state which a 3D virtual vehicle displayed on the 1st display part turns on an indicator light. The figure which shows the state which a 3D virtual vehicle displayed on the 2nd display part turns on an indicator light. The figure which shows the state which the 3D virtual vehicle displayed on the 1st display part has entered the blind spot of a building. The figure which shows the state which the 3D virtual vehicle displayed on the 2nd display part entered the blind spot of a building. FIG. 3 is a flowchart showing an example of navigation processing executed by the calculation unit of the in-vehicle terminal of FIG.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 9. FIG. 1 is a schematic configuration diagram showing an example of an arrangement position of an in-vehicle terminal 101 constituting the navigation device 1 according to the embodiment of the present invention inside the vehicle. As shown in FIG. 1, the navigation device 1 according to the present embodiment is provided on the vehicle-mounted terminal 101 mounted on the vehicle 100, and the vehicle-mounted terminal 101 is mainly provided on the dashboard 102 or the like of the vehicle 100. That is, the navigation device 1 according to the present embodiment is mainly composed of an in-vehicle terminal 101 provided on the dashboard 102 or the like of the vehicle 100.

The navigation device may be provided, for example, in a driver terminal (not shown) owned by a driver who drives the vehicle 100.

FIG. 2 is a block diagram showing a main configuration of an in-vehicle terminal 101 constituting the navigation device 1 according to the present embodiment. As shown in FIG. 2, the in-vehicle terminal 101 is configured to be connectable to a communication network 110 such as a wireless communication network, an Internet network, and a telephone line network, and traffic regulation, traffic congestion information, and the like are transmitted via the communication network 110. It is possible to receive traffic information services. For example, the in-vehicle terminal 101 can communicate with a server device 111 or the like of a telematics service provider that provides a telematics service for automobiles via a communication network 110.

As shown in FIG. 2, the in-vehicle terminal 101 includes a communication unit 10, an input / output unit 20, a calculation unit 30, a storage unit 40, an image pickup unit 50, and a sensor group 60. An actuator 70 is connected to the in-vehicle terminal 101.

The communication unit 10 is configured to enable wireless communication with the above-mentioned server device 111 and the like via the communication network 110. The communication unit 10 transmits, for example, a part of the signal from the sensor group 60 together with the vehicle ID to the server device 111 at predetermined time intervals. For example, the positioning signal received by the GPS sensor 61 described later is transmitted to the server device 111 at predetermined time intervals together with the vehicle ID.

As shown in FIG. 1, the input / output unit 20 outputs various switches and buttons (for example, a touch panel 21) that can be operated by the driver, a microphone 22 for inputting the driver's voice, a speaker 23 for outputting audio, and an image. It has a first display unit 24 and a second display unit 25. The driver inputs the destination information via the input / output unit 20, and the driver inputs the destination information, so that the calculation unit 30 searches for a route to the destination. The destination information includes the name of the destination (facility name), the address or telephone number of the destination, the genre of the destination, and the like.

The first display unit 24 is arranged in front of the driver and is visible to the driver and passengers. The front of the driver includes the range of the viewing angle when the driver is facing forward. For example, the front of the driver includes the front of the driver as well as the diagonally front of the driver. In the present embodiment, the first display unit 24 is provided substantially in the center of the dashboard 102, and is located between the driver's seat 103 and the passenger's seat 104.

The second display unit 25 is arranged in front of the driver and is mainly visible to the driver. In the present embodiment, the second display unit 25 is provided in front of the driver's seat 103 at the upper part of the dashboard 102, and is located above the instrument panel 105 of the vehicle 100. That is, the second display unit 25 is located in front of the driver.

The second display unit 25 in this embodiment is a so-called head-up display. The head-up display can display an image in a colored and transparent manner, and can transmit the image in a state of being output. The size of the head-up display is not limited to the size shown in FIG. 1, and may be larger than this. By using the second display unit 25 as a head-up display located in front of the driver, it is possible to reduce the movement of the driver's line of sight when confirming the route, and it is difficult to overlook the route guidance.

The calculation unit 30 has a CPU and is used for signals input via the input / output unit 20, position information (positioning information) of the terminal input via the sensor group 60, data stored in the storage unit 40, and the like. Based on this, a predetermined process is executed, and a control signal is output to the input / output unit 20 and the storage unit 40. By this process in the calculation unit 30, for example, a route to the destination input by the driver is set. At this time, the congestion information, the estimated arrival time to the destination, and the like are calculated based on the signal received from the outside (for example, the server device 111) via the communication unit 10. The functional configuration of the calculation unit 30 will be described later.

The storage unit 40 has a volatile or non-volatile memory (not shown). The storage unit 40 stores various programs, data, and the like executed by the calculation unit 30. For example, the storage unit 40 stores navigation data such as a map database 41, a road database 42, a search database 43, and a voice recognition database 44 as an example of a functional configuration carried by the memory.

In the map database 41 (storage unit), three-dimensional map information for displaying a map in three dimensions is stored in the first and second display units 24 and 25 of the input / output unit 20. In the map database 41, for example, data of a three-dimensional topographic map, data corresponding to various facilities, blocks, lakes and marshes, character data such as associated facility names and place names, and various symbol data are stored. It is remembered.

The road database 42 includes information such as the connection state and shape of the road. The road database 42 contains, for example, nodes (coordinate points for grasping the road shape), links that are lines connecting the nodes, the distance of each link, the type, width, intersection angle, shape, and the like of the road. The data is stored. The search database 43 is referred to when searching for various facilities, blocks, and the like. The voice recognition database 44 is referred to during the voice recognition process.

The image pickup unit 50 is a camera having an image pickup element such as a CCD or CMOS, and can take an image of the front of the vehicle 100. In the present embodiment, the imaging unit 50 is an in-vehicle camera and is attached to the front window 106 of the vehicle 100. By receiving the vehicle front (front environment) data imaged by the imaging unit 50, the calculation unit 30 detects, for example, the color of the signal in front or the vehicle in front (another vehicle).

The sensor group 60 includes various sensors that detect the state of the vehicle 100. As an example, the sensor group 60 includes a GPS sensor 61 that receives a signal (positioning signal) from a GPS satellite and detects the position of the vehicle 100, a vehicle speed sensor 62 that detects the traveling speed (vehicle speed) of the vehicle 100, and a vehicle. It has a gyro sensor 63 that detects an angular velocity of 100.

The gyro sensor 63 has an inclination angle with respect to the direction and vertical direction of the vehicle 100 in the horizontal plane (for example, an inclination angle with respect to the vertical direction of the front-rear axis of the vehicle 100, a yaw angle which is a rotation angle around the vertical axis of the vehicle center of gravity, etc. ) And the amount of change in the tilt angle (for example, yaw rate) are detected. The calculation unit 30 determines the current position of the vehicle 100 by the calculation processing of autonomous navigation based on the positioning signal received by the GPS sensor 61 or the detection signal such as the yaw rate detected by the gyro sensor 63 and the vehicle speed detected by the vehicle speed sensor 62. calculate.

Although not shown, the sensor group 60 also includes an acceleration sensor that detects the acceleration acting on the vehicle 100, a mileage sensor that detects the mileage, a door opening / closing sensor that detects the opening / closing of the door, and the like.

The actuator 70 drives various devices mounted on the vehicle 100 by a command from the in-vehicle terminal 101 (calculation unit 30). As an example, the actuator 70 includes an engine drive actuator, a transmission drive actuator, a braking device drive actuator, a steering actuator, a lock actuator for unlocking or locking a door lock, and the like.

Next, the functional configuration of the calculation unit 30 described above will be described with reference to FIGS. 3 to 9.

Here, in a general navigation device, for example, guidance such as going straight, diagonally right, diagonally left, right turn, left turn, diagonally right rearward, and diagonally leftward rearward is performed before entering an intersection. Since this guidance is performed based on the digitized map data, the guidance may be different from the feeling when the driver actually drives.

In particular, in a general navigation device, the direction of travel is displayed and guided by a simple figure such as an arrow. Therefore, for example, a person who is not good at driving a car or a person who does not usually drive a car is nervous about driving. Therefore, the route guidance of this navigation device may be overlooked and the set route may be deviated.

Therefore, in the present embodiment, a three-dimensional virtual vehicle 200 that virtually displays a vehicle traveling on the set route in three dimensions is generated, and a three-dimensional virtual vehicle is generated in front of the vehicle 100 (hereinafter, also referred to as “own vehicle 100”). Output in front of the driver so that the vehicle 200 travels along the route. As a result, the driver can arrive at the set destination simply by performing the same operation as the three-dimensional virtual vehicle 200 traveling in front of the own vehicle 100 and following the three-dimensional virtual vehicle 200. .. As a result, the driver can easily reach the destination without deviating from the set route. In order to realize such an operation satisfactorily, the present embodiment constitutes a navigation device 1 having the following calculation unit 30.

FIG. 3 is a block diagram showing a configuration of a main part of the calculation unit 30 of the vehicle-mounted terminal 101 shown in FIG. FIG. 4A is a diagram illustrating an example of route guidance displayed on the first display unit 24 shown in FIG. 1, and FIG. 4B is an example of route guidance displayed on the second display unit 25 shown in FIG. It is a figure explaining.

As shown in FIG. 3, the calculation unit 30 has a route setting unit 31, a three-dimensional virtual vehicle generation unit 32, a signal determination unit 33, a front vehicle determination unit 34, and an inter-vehicle distance as a functional configuration carried by the processor. It has a calculation unit 35, a sudden braking operation determination unit 36, a braking light lighting determination unit 37, an indicator light lighting determination unit 38, and a blind spot determination unit 39.

Although not shown, the calculation unit 30 also includes a navigation data update unit that updates the navigation data stored in the storage unit 40 described above. The navigation data update unit reads new navigation data from a storage medium such as a memory card in which new navigation data is stored, and outputs the read navigation data to the storage unit 40. Hereinafter, the above-mentioned functional configuration of the calculation unit 30 will be specifically described.

The route setting unit 31 sets the optimum route from the current position to the destination. The route setting unit 31 sets a route to the destination input by the driver via the input / output unit 20 based on the positioning information of the own vehicle 100 received by the GPS sensor 61 and the navigation data stored in the storage unit 40. Explore. Then, the route setting unit 31 sets the optimum route from the searched routes based on the traffic information received from the server device 111 via the communication unit 10. At this time, the route setting unit 31 calculates the estimated arrival time to the destination based on the traffic information received from the server device 111 via the communication unit 10.

The three-dimensional virtual vehicle generation unit 32 generates a three-dimensional virtual vehicle 200 that virtualizes a vehicle traveling on the route set by the route setting unit 31 in three dimensions, and the three-dimensional virtual vehicle 200 is placed in front of the own vehicle 100. It is output to the front of the driver together with the 3D map information so as to run. That is, the three-dimensional virtual vehicle generation unit 32 provides route guidance to the driver.

In the present embodiment, as shown in FIGS. 4A and 4B, the three-dimensional virtual vehicle generation unit 32 generates a three-dimensional virtual vehicle 200 in which the road and the building 320 travel on the three-dimensional map displayed in three dimensions. To do. The three-dimensional virtual vehicle generation unit 32 generates a three-dimensional virtual vehicle 200 that travels 10 m ahead of the own vehicle 100. Then, the generated signals for generating these are output to the first display unit 24 and the second display unit 25, and the three-dimensional virtual vehicle 200 traveling on the three-dimensional map is transmitted to the first display unit 24 and the second display unit 25. Display and guide.

Specifically, the three-dimensional virtual vehicle generation unit 32 refers to the first display unit 24 on a three-dimensional map of a wide area including roads and buildings 320, as shown in FIG. 4A, of the own vehicle 100. The three-dimensional virtual vehicle 200 traveling 10 m ahead is displayed. As shown in FIG. 4B, the second display unit 25 is enlarged to display the three-dimensional virtual vehicle 200 displayed on the first display unit 24. By enlarging and displaying the three-dimensional virtual vehicle 200 on the second display unit 25 (head-up display) located in front of the driver in this way, the driver can easily imitate the operation of the three-dimensional virtual vehicle 200.

As shown in FIGS. 4A and 4B, the three-dimensional map referred to here is a map in which roads and buildings 320 are three-dimensionally displayed in two dimensions (plane), and these are three-dimensionally displayed in three dimensions. It is not displayed. Similarly, the three-dimensional virtual vehicle 200 is also a vehicle that is three-dimensionally displayed on two dimensions (plane), and is not a three-dimensional display of the three-dimensional virtual vehicle 200 on three dimensions.

In the present embodiment, the three-dimensional virtual vehicle generation unit 32 generates a three-dimensional virtual vehicle 200 of the same type as the own vehicle 100. Here, the same type includes vehicles having the same body type, and vehicle body types include sedans, wagons, minivans, SUVs, sports, coupes, compact cars, light vehicles, and the like. For example, the three-dimensional virtual vehicle generation unit 32 generates an SUV type three-dimensional virtual vehicle 200 when the own vehicle 100 is an SUV type, and a sedan type three-dimensional virtual vehicle when the own vehicle 100 is a sedan type. Generate vehicle 200.

By generating the three-dimensional virtual vehicle 200 of the same type as the own vehicle 100, for example, the driver can easily imitate the operation of the three-dimensional virtual vehicle 200 with respect to the own vehicle 100. For example, if the three-dimensional virtual vehicle 200 is of the same type as the own vehicle 100, the vehicle height, steering angle, and the like are the same, which is close to the feeling when actually traveling. Therefore, the three-dimensional virtual vehicle 200 is relative to the own vehicle 100. It is easy to make the same operation as.

The three-dimensional virtual vehicle generation unit 32 preferably generates a three-dimensional virtual vehicle 200 of the same type as the own vehicle 100. By generating a 3D virtual vehicle 200 of the same type as the own vehicle 100, for example, a feeling of familiarity with the 3D virtual vehicle 200 is created, and the same operation as the 3D virtual vehicle 200 is performed to obtain the 3D virtual vehicle 200. Driving to go becomes fun.

The signal determination unit 33 determines the color of the light of the traffic light 310 located in the traveling direction of the three-dimensional virtual vehicle 200 (own vehicle 100). The signal determination unit 33 determines the color of the light of the traffic light 310 at a position separated by a predetermined distance from the traffic light 310 located in the traveling direction. In the present embodiment, the signal determination unit 33 determines the color of the light of the traffic light 310 located 30 m ahead of the three-dimensional virtual vehicle 200. The signal determination unit 33 repeatedly detects the color of the light of the traffic light 310 until the own vehicle 100 crosses the stop line located in front of the traffic light 310.

The signal determination unit 33 detects the traffic light 310 and the stop line located 30 m ahead of the three-dimensional virtual vehicle 200 from the scenery in front of the vehicle imaged by the image pickup unit 50, and determines the color of the light of the traffic light 310. The signal determination unit 33 determines any of red, blue, and yellow, and outputs a signal (color signal) of the color information of the determined signal to the brake light lighting determination unit 37 and the three-dimensional virtual vehicle generation unit 32. As for the method of determining these colors and detecting the stop line, a general image processing technique can be used, and thus the description thereof will be omitted here.

The front vehicle determination unit 34 determines the presence or absence of the front vehicle 300 (see FIG. 5A described later) located in front of the own vehicle 100. In the present embodiment, the front vehicle determination unit 34 determines the presence or absence of the front vehicle 300 (hereinafter, also simply referred to as “front vehicle 300”) located within 50 m ahead of the own vehicle 100. The front vehicle 300 also includes a front oncoming vehicle traveling in the oncoming lane.

The front vehicle determination unit 34 detects another vehicle from the scenery in front of the vehicle imaged by the image pickup unit 50, and detects the presence or absence of the front vehicle 300. When the front vehicle determination unit 34 detects the front vehicle 300, the front vehicle information signal (front vehicle) is sent to the three-dimensional virtual vehicle generation unit 32, the inter-vehicle distance calculation unit 35, the brake light lighting determination unit 37, and the indicator light lighting determination unit 38. Signal) is output. Since a general image processing technique can be used for the detection method of the vehicle in front 300, the description thereof will be omitted here.

When the three-dimensional virtual vehicle generation unit 32 receives the front vehicle signal output by the front vehicle determination unit 34, the three-dimensional virtual vehicle 200 is positioned between the own vehicle 100 and the front vehicle 300. Generate 200.

The inter-vehicle distance calculation unit 35 calculates the vehicle distance between the own vehicle 100 and the vehicle in front 300. In the present embodiment, the inter-vehicle distance calculation unit 35 calculates the vehicle distance between the own vehicle 100 and the front vehicle 300 when it receives the front vehicle signal output by the front vehicle determination unit 34. For example, the inter-vehicle distance calculation unit 35 calculates the inter-vehicle distance from the own vehicle 100 based on the image in front of the vehicle captured by the imaging unit 50. When the inter-vehicle distance calculation unit 35 calculates the inter-vehicle distance from the vehicle in front 300, it outputs an inter-vehicle distance information signal (inter-vehicle distance signal) to the three-dimensional virtual vehicle generation unit 32 and the sudden braking operation determination unit 36.

When the three-dimensional virtual vehicle generation unit 32 receives the inter-vehicle distance signal output by the inter-vehicle distance calculation unit 35, the size of the three-dimensional virtual vehicle 200 is changed based on the inter-vehicle distance between the own vehicle 100 and the vehicle in front 300. .. Specifically, as the distance between the own vehicle 100 and the vehicle in front 300 becomes shorter, the size of the three-dimensional virtual vehicle 200 is reduced so that the three-dimensional virtual vehicle 200 is generated so as not to overlap with the vehicle 300. By reducing the size of the three-dimensional virtual vehicle 200 as the distance between the own vehicle 100 and the vehicle in front 300 becomes shorter, for example, the three-dimensional virtual located in front of the own vehicle 100 even if the distance between the vehicles becomes shorter. The vehicle 200 can be displayed.

Further, the three-dimensional virtual vehicle generation unit 32 does not generate the three-dimensional virtual vehicle 200 when the distance between the own vehicle 100 and the vehicle in front 300 is equal to or less than a predetermined distance. By not generating the three-dimensional virtual vehicle 200 when the distance between the vehicle and the front vehicle 300 is equal to or less than a predetermined distance, it is possible to prevent the three-dimensional virtual vehicle 200 from becoming difficult to see the front vehicle 300, for example. The predetermined distance or less is preferably 5 m or less, and more preferably 3 m or less.

The sudden braking operation determination unit 36 determines a situation (a sudden braking necessary situation) that requires a sudden braking operation of the own vehicle 100 based on the front environment of the own vehicle 100. In the present embodiment, when the sudden braking operation determination unit 36 receives the inter-vehicle distance signal output by the inter-vehicle distance calculation unit 35, it determines a situation in which the sudden braking operation of the own vehicle 100 is required based on the received inter-vehicle distance. To do. For example, the sudden braking operation determination unit 36 determines that the sudden braking operation is necessary when the received inter-vehicle distance is within a predetermined threshold value.

The predetermined threshold value of the inter-vehicle distance is preferably within 30 m, more preferably within 25 m, and even more preferably within 20 m. When the sudden braking operation determination unit 36 determines that the sudden braking operation is necessary, the sudden braking operation determination unit 36 outputs a sudden braking operation signal (sudden braking operation signal) to the three-dimensional virtual vehicle generation unit 32.

Upon receiving the sudden braking operation signal output by the sudden braking operation determination unit 36, the three-dimensional virtual vehicle generation unit 32 generates the three-dimensional virtual vehicle 200 that performs a predetermined sudden braking operation. FIG. 5A is a diagram showing a sudden braking operation of the three-dimensional virtual vehicle 200 displayed on the first display unit 24, and FIG. 5B is a diagram showing a sudden braking operation of the three-dimensional virtual vehicle 200 displayed on the second display unit 25. It is a figure which shows. In the present embodiment, when the three-dimensional virtual vehicle generation unit 32 receives the sudden braking operation signal, the braking light 201 is turned on and the rear part of the vehicle moves upward as shown in FIGS. 5A and 5B. Generate a virtual vehicle 200. In other words, the three-dimensional virtual vehicle 200 is generated by rotating the rear part of the vehicle around the front end of the vehicle. The predetermined sudden braking operation is not limited to this, and may be another operation.

The brake light lighting determination unit 37 determines the lighting of the brake light 201 of the three-dimensional virtual vehicle 200. FIG. 6A is a diagram showing a state in which the three-dimensional virtual vehicle 200 displayed on the first display unit 24 turns on the brake light 201, and FIG. 6B is a diagram showing a state in which the three-dimensional virtual vehicle 200 displayed on the second display unit 25 turns on the brake light 201. Is a diagram showing a state in which the brake light 201 is turned on.

As shown in FIGS. 6A and 6B, the brake light lighting determination unit 37 lights the brake light 201 of the three-dimensional virtual vehicle 200 based on, for example, the color of the light of the traffic light 310 determined by the signal determination unit 33. Make a judgment. For example, when the brake light lighting determination unit 37 receives the blue color signal output from the signal determination unit 33, the brake light lighting determination unit 37 determines that the brake light 201 of the three-dimensional virtual vehicle 200 is not turned on. Further, for example, as shown in FIGS. 6A and 6B, when the yellow or red color signal output from the signal determination unit 33 is received, it is determined to turn on the brake light 201 of the three-dimensional virtual vehicle 200. When the brake light lighting determination unit 37 determines to turn on the brake light 201 of the three-dimensional virtual vehicle 200, the brake light lighting determination unit 37 outputs a signal for turning on the brake light 201 (brake light lighting signal) to the three-dimensional virtual vehicle generation unit 32.

When the three-dimensional virtual vehicle generation unit 32 receives the brake light lighting signal by the brake light lighting determination unit 37 and the red or yellow color signal by the signal determination unit 33, the brake light 201 is turned on and in accordance with the road traffic regulations. A three-dimensional virtual vehicle 200 that stops at a stop line in front of the traffic light 310 is generated. Then, when the signal determination unit 33 receives the blue color signal, the three-dimensional virtual vehicle generation unit 32 generates the three-dimensional virtual vehicle 200 that travels along the route.

Further, the brake light lighting determination unit 37 is three-dimensional based on the vehicle speed of the own vehicle 100 detected by the vehicle speed sensor 62 when the three-dimensional virtual vehicle 200 turns left along the route set by the route setting unit 31, for example. A determination is made to turn on the brake light 201 of the virtual vehicle 200. In the present embodiment, when the vehicle speed 30 m before turning left is 30 km / h or more, it is determined that the brake light 201 of the three-dimensional virtual vehicle 200 is turned on. When the brake light lighting determination unit 37 determines to turn on the brake light 201 of the three-dimensional virtual vehicle 200, the brake light lighting determination unit 37 outputs a signal for turning on the brake light 201 (brake light lighting signal) to the three-dimensional virtual vehicle generation unit 32.

In the three-dimensional virtual vehicle generation unit 32, when turning left along the route generated by the route setting unit 31, when the brake light lighting determination unit 37 receives the brake light lighting signal, the brake light 201 is turned on and the vehicle speed is increased. Generate a slowed 3D virtual vehicle 200.

Further, when the brake light lighting determination unit 37 makes a right turn along the route generated by the route setting unit 31, for example, the brake light of the three-dimensional virtual vehicle 200 is based on the presence or absence of a front oncoming vehicle by the front vehicle determination unit 34. A determination is made to turn on 201. In the present embodiment, when the front vehicle signal is received by the front vehicle determination unit 34, it is determined to turn on the brake light 201 of the three-dimensional virtual vehicle 200. When the brake light lighting determination unit 37 determines to turn on the brake light 201 of the three-dimensional virtual vehicle 200, the brake light lighting determination unit 37 outputs a brake light lighting signal to the three-dimensional virtual vehicle generation unit 32.

In the three-dimensional virtual vehicle generation unit 32, when turning right along the route generated by the route setting unit 31, when the brake light lighting determination unit 37 receives the brake light lighting signal, the brake light 201 is turned on and the stop line is stopped. The three-dimensional virtual vehicle 200 stopped at is generated.

Further, when the three-dimensional virtual vehicle generation unit 32 receives the brake light lighting signal from the brake light lighting determination unit 37, the three-dimensional virtual vehicle generation unit 32 adjusts the timing for turning on the brake light 201 based on the vehicle speed of the own vehicle 100 detected by the vehicle speed sensor 62. .. For example, the three-dimensional virtual vehicle generation unit 32 delays the timing of turning on the brake light 201 as the vehicle speed of the own vehicle 100 becomes slower than 60 km / h, and the timing of turning on the brake light 201 as the vehicle speed becomes faster than 60 km / h. To speed up.

The indicator light lighting determination unit 38 determines the lighting of the indicator light 202 of the three-dimensional virtual vehicle 200. FIG. 7A is a diagram showing a state in which the three-dimensional virtual vehicle 200 displayed on the first display unit 24 turns on the indicator light 202, and FIG. 7B is a diagram showing a state in which the three-dimensional virtual vehicle 200 displayed on the second display unit 25 turns on the indicator light 202. Is a diagram showing a state in which the indicator lamp 202 is turned on.

As shown in FIGS. 7A and 7B, the indicator light lighting determination unit 38 lights the indicator light 202 of the three-dimensional virtual vehicle 200 in accordance with the road traffic regulations, for example, based on the route set by the route setting unit 31. Let me. For example, when turning left from the route set by the route setting unit 31, it is determined to turn on the indicator light 202 on the left side of the three-dimensional virtual vehicle 200, and when turning right, the right side of the three-dimensional virtual vehicle 200 is turned on. A determination is made to turn on the indicator light 202. When the indicator light lighting determination unit 38 determines to turn on the indicator light 202 of the three-dimensional virtual vehicle 200, the three-dimensional virtual vehicle generation unit 32 outputs a signal (indicator light lighting signal) for lighting either the left or right indicator light 202. Output to.

In the three-dimensional virtual vehicle generation unit 32, when turning left along the route set by the route setting unit 31, when the indicator light lighting determination signal by the indicator light lighting determination unit 38 is received, the three-dimensional virtual vehicle is based on the road traffic regulations. The indicator light 202 on the left side of the 200 is turned on, and the three-dimensional virtual vehicle 200 that turns left is generated.

Further, in the three-dimensional virtual vehicle generation unit 32, when turning right along the route set by the route setting unit 31, when the indicator light lighting signal by the indicator light lighting determination unit 38 is received, the three-dimensional virtual vehicle is virtual based on the road traffic regulations. The indicator light 202 on the right side of the vehicle 200 is turned on, and a three-dimensional virtual vehicle 200 that turns right is generated.

Further, the three-dimensional virtual vehicle generation unit 32 adjusts the timing of turning on the indicator light 202 based on the vehicle speed of the own vehicle 100 detected by the vehicle speed sensor 62 when the indicator light lighting determination unit 38 receives the indicator light lighting signal. .. For example, the three-dimensional virtual vehicle generation unit 32 delays the timing of turning on the indicator light 202 as the vehicle speed of the own vehicle 100 becomes slower than 60 km / h, and the timing of turning on the indicator light 202 as it becomes faster than 60 km / h. To speed up.

The blind spot determination unit 39 determines that the three-dimensional virtual vehicle 200 has moved to the blind spot in the driver's field of view due to a three-dimensionally displayed building 320, a mountain surface, a tunnel, or the like. FIG. 8A is a diagram showing a state in which the three-dimensional virtual vehicle 200 displayed on the first display unit 24 has entered the blind spot of the building 320, and FIG. 8B is a diagram showing a state in which the three-dimensional virtual vehicle 200 displayed on the second display unit 25 has entered the blind spot. It is a figure which shows the state which the vehicle 200 has entered the blind spot of a building 320.

As shown in FIGS. 8A and 8B, the blind spot determination unit 39 overlaps the three-dimensional virtual vehicle 200 and the three-dimensionally displayed building 320, for example, when turning left from the route set by the route setting unit 31. When the portion is detected, the overlapping portion is determined to be a blind spot in the driver's field of view. Further, when the blind spot determination unit 39 detects an overlapping portion between the three-dimensional virtual vehicle 200 and the three-dimensionally displayed building 320 when turning right from the route set by the route setting unit 31, the overlapping portion is used by the driver. Judged as a blind spot in sight. When the blind spot determination unit 39 determines the blind spot of these overlapping portions, the blind spot determination unit 39 outputs a blind spot signal to the three-dimensional virtual vehicle generation unit 32.

When the 3D virtual vehicle generation unit 32 makes a left turn or a right turn from the route set by the route setting unit 31, when the blind spot signal is received, the 3D virtual vehicle 200 is generated and built so as to be seen by the driver. The overlapping portion with the object 320 is generated by a hidden line (broken line).

FIG. 9 is a flowchart showing an example of navigation processing executed by the calculation unit 30 of the in-vehicle terminal 101 of FIG. The process shown in this flowchart starts when the destination is input by the driver via the input / output unit 20, and ends when the own vehicle 100 arrives at the destination.

First, in step S1, the route setting unit 31 sets the optimum route from the current position to the destination based on the destination input by the driver via the input / output unit 20. Next, in step S2, the three-dimensional virtual vehicle 200 is generated by imagining the vehicle traveling on the route set by the route setting unit 31 in three dimensions by the processing in the three-dimensional virtual vehicle generation unit 32.

Next, in step S3, the three-dimensional virtual vehicle 200 traveling in front of the own vehicle 100 is displayed on the first and second display units 24 and 25 together with the three-dimensional map information by the processing in the three-dimensional virtual vehicle generation unit 32. Let's start the guidance to the destination. At this time, the three-dimensional virtual vehicle 200 traveling on the route while turning on the indicator light 202 and the brake light 201 by the processing by the brake light lighting determination unit 37, the indicator light lighting determination unit 38, and the three-dimensional virtual vehicle generation unit 32. It is displayed on the first and second display units 24 and 25 for guidance.

Next, in step S4, it is determined whether or not the vehicle has arrived at the destination by processing in the three-dimensional virtual vehicle generation unit 32. If denied in step S4, the process returns to step S3 and the guidance to the destination is continued. On the other hand, if affirmed in step S4, the process ends.

According to this embodiment, the following actions and effects can be obtained.
(1) The navigation device 1 is a three-dimensional virtual vehicle in which a route setting unit 31 for setting a route from the current position to the destination and a vehicle traveling on the route set by the route setting unit 31 are virtually displayed in three dimensions. It is provided with a three-dimensional virtual vehicle generation unit 32 that generates 200 and outputs the three-dimensional map information to the front of the driver so that the three-dimensional virtual vehicle 200 travels on the route in front of the own vehicle 100.

With this configuration, for example, guidance is provided with the same feeling as when the driver actually drives, so even people who are not good at driving a car or who do not usually drive a car can provide route guidance. It is possible to prevent the route from being overlooked and deviating from the set route. That is, since the route to the destination is effectively guided to the driver, the driver can easily arrive at the destination without deviating from the set route.

(2) The three-dimensional virtual vehicle generation unit 32 generates a three-dimensional virtual vehicle 200 of the same type as the own vehicle 100. As a result, for example, the vehicle height, the steering angle, and the like are the same, and the feeling is close to that of the actual driving, so that the driver can easily imitate the operation of the three-dimensional virtual vehicle 200 with respect to the own vehicle 100. As a result, the driver can reach the destination without deviating from the set route.

(3) The three-dimensional virtual vehicle generation unit 32 generates a three-dimensional virtual vehicle 200 that travels on the route while turning on the indicator light 202 and the brake light 201 in accordance with the road traffic regulations. As a result, the guidance is performed with the same feeling as when actually driving. Therefore, for example, the driver arrives at the destination only by performing the same operation as the three-dimensional virtual vehicle 200 on the own vehicle 100. be able to.

(4) A vehicle speed sensor 62 that detects the traveling speed of the own vehicle 100 is further provided. The three-dimensional virtual vehicle generation unit 32 adjusts the lighting timing of the indicator light 202 and the braking light 201 of the three-dimensional virtual vehicle 200 based on the traveling speed of the own vehicle 100 detected by the vehicle speed sensor 62. As a result, for example, it is possible to generate a three-dimensional virtual vehicle 200 along the flow of the road, and it is possible to provide guidance along the flow of the road.

(5) A storage unit for accumulating three-dimensional map information is further provided. When the 3D virtual vehicle generation unit 32 determines that the 3D virtual vehicle 200 moves to the blind spot of the driver's field of view based on the accumulated 3D map information and the position information of the own vehicle, the 3D virtual vehicle 200 is the driver. The three-dimensional virtual vehicle 200 is generated so as to be seen from the inside. This makes it difficult for the driver to lose sight of the three-dimensional virtual vehicle 200, for example.

(6) When the three-dimensional virtual vehicle 200 moves to the blind spot in the driver's field of view, the three-dimensional virtual vehicle generation unit 32 generates the blind spot portion of the three-dimensional virtual vehicle 200 with a hidden line. Thereby, for example, it is possible to prevent the driver from losing sight of the three-dimensional virtual vehicle 200.

(7) A sudden braking operation determination unit 36 for determining a situation requiring a sudden braking operation of the own vehicle 100 based on the front environment of the own vehicle 100 is further provided. When the sudden braking operation determination unit 36 detects the sudden braking necessary situation, the three-dimensional virtual vehicle generation unit 32 generates the three-dimensional virtual vehicle 200 that performs a predetermined sudden braking operation. As a result, for example, even when a situation requires a sudden braking operation of the own vehicle 100, it is possible to promptly respond to the sudden braking operation.

(8) In the three-dimensional virtual vehicle generation unit 32, when the front vehicle 300 is traveling in front of the own vehicle 100, the three-dimensional virtual vehicle 200 travels between the own vehicle 100 and the front vehicle 300. The three-dimensional virtual vehicle 200 is generated as described above. Thereby, for example, it is possible to prevent the three-dimensional virtual vehicle 200 from being unable to be displayed due to the presence of the vehicle in front 300.

(9) The three-dimensional virtual vehicle generation unit 32 reduces the size of the three-dimensional virtual vehicle 200 as the distance between the own vehicle 100 and the front vehicle 300 becomes shorter, and generates the three-dimensional virtual vehicle 200 so as not to overlap with the front vehicle. , When the distance is less than or equal to a predetermined value, the virtual vehicle is not generated. As a result, for example, even if the distance between the own vehicle 100 and the vehicle in front 300 is shortened, the three-dimensional virtual vehicle 200 can be displayed, and the vehicle in front 300 becomes difficult to see in the three-dimensional virtual vehicle 200. Can be prevented.

In the above embodiment, the calculation unit 30 includes a route setting unit 31, a three-dimensional virtual vehicle generation unit 32, a signal determination unit 33, a front vehicle determination unit 34, an inter-vehicle distance calculation unit 35, and a sudden braking operation determination unit. 36, a brake light lighting determination unit 37, an indicator light lighting determination unit 38, and a blind spot determination unit 39 are provided, but the present invention is not limited thereto. The calculation unit may include a route setting unit 31 and a three-dimensional virtual vehicle generation unit 32.

In the above embodiment, as the virtual vehicle generation unit, the three-dimensional virtual vehicle generation unit 32 that generates the three-dimensional virtual vehicle 200 that virtually displays the vehicle traveling on the route set by the route setting unit 31 in three dimensions is used. As described above, the present invention is not limited to this. The virtual vehicle generation unit may be configured to generate, for example, a two-dimensional virtual vehicle in which a vehicle traveling on a route set by the route setting unit is virtually displayed in two dimensions.

In the above embodiment, the map database 41 of the storage unit 40 is configured to include the data of the three-dimensional topographic map, but the present invention is not limited to this. The map database 41 of the storage unit 40 may be configured not to include the data of the three-dimensional topographic map.

In the above embodiment, the three-dimensional virtual vehicle 200 and the three-dimensional map information are displayed on the second display unit 25 constituting the head-up display, but the present invention is not limited to this. For example, it may be configured to be projected and displayed on the front window 106 of the vehicle 100. When these are projected and displayed on the front window 106 of the vehicle 100, it is possible to display them in the same size as the driver visually sees, and it is possible to further prevent the wrong route. In this case, the three-dimensional virtual vehicle 200 and the three-dimensional map information are preferably displayed in colored transparency.

In the above embodiment, the three-dimensional virtual vehicle 200 and the three-dimensional map information are displayed on the first and second display units 24 and 25, but the present invention is not limited thereto. The input / output unit 20 may be provided with the first display unit 24, and may be configured to display the three-dimensional virtual vehicle 200 and the three-dimensional map information on the first display unit 24.

In the above embodiment, when the blind spot determination unit 39 detects an overlapping portion between the three-dimensional virtual vehicle 200 and the three-dimensionally displayed building 320, the overlapping portion is determined to be a blind spot in the driver's field of view. Not limited to this. For example, the blind spot determination unit 39 determines that the virtual vehicle 200 moves to the blind spot in the driver's field of view based on the position of the own vehicle 100 acquired by the GPS sensor 61 and the three-dimensional map information stored in the map database 41. You may.

In the above embodiment, the three-dimensional virtual vehicle 200 and the three-dimensional map information are displayed on the second display unit 25 constituting the head-up display, but the present invention is not limited to this. For example, the second display unit 25 may be configured to display only the three-dimensional virtual vehicle 200. In this case, when the 3D virtual vehicle generation unit 32 moves to the blind spot of the driver's view due to, for example, a building in which the 3D virtual vehicle 200 moving along the route actually exists, the 3D virtual vehicle 200 It is preferable to generate the three-dimensional virtual vehicle 200 so that the driver can see through it, and it is preferable to generate the part hidden by the actual building by a hidden line.

The above description is merely an example, and the present invention is not limited to the above-described embodiments as long as the features of the present invention are not impaired.

1 Navigation device, 30 Calculation unit, 31 Route setting unit, 32 3D virtual vehicle generation unit, 37 Braking light lighting judgment unit, 38 Indicator light lighting judgment unit, 40 Storage unit, 50 Imaging unit, 60 Sensor group, 61 GPS sensor , 100 own vehicle, 101 in-vehicle terminal, 200 3D virtual vehicle, 201 braking light, 202 indicator light, 300 forward vehicle, 310 traffic light, 320 building

Claims (9)

A route setting unit that sets the route from the current position to the destination,
A virtual vehicle that virtually displays a vehicle traveling on the route set by the route setting unit and outputs the virtual vehicle in front of the driver so that the virtual vehicle travels on the route in front of the own vehicle. A navigation device including a generator. In the navigation device according to claim 1,
The virtual vehicle generation unit is a navigation device that generates a virtual vehicle of the same type as the own vehicle. In the navigation device according to claim 1 or 2.
The virtual vehicle generation unit is a navigation device that generates the virtual vehicle that travels on the route while turning on an indicator light and a braking light in accordance with road traffic regulations. In the navigation device according to claim 3,
Further provided with a vehicle speed detection unit for detecting the traveling speed of the own vehicle,
The virtual vehicle generation unit is a navigation device that adjusts the lighting timing of the indicator light and the braking light of the virtual vehicle based on the traveling speed of the own vehicle detected by the vehicle speed detection unit. In the navigation device according to any one of claims 1 to 4.
It also has a storage unit that stores 3D map information.
When the virtual vehicle generation unit determines that the virtual vehicle moves to the blind spot of the driver based on the accumulated three-dimensional map information and the position information of the own vehicle, the virtual vehicle can be seen from the driver. A navigation device characterized by generating the virtual vehicle. In the navigation device according to claim 5,
The virtual vehicle generation unit is a navigation device characterized in that when the virtual vehicle moves to a blind spot in the driver's field of view, a blind spot portion of the virtual vehicle is generated by a hidden line. In the navigation device according to any one of claims 1 to 6.
Further, a sudden braking operation determination unit for determining a situation requiring a sudden braking operation of the own vehicle based on the front environment of the own vehicle is further provided.
The virtual vehicle generation unit is a navigation device characterized in that when the sudden braking operation determination unit detects a sudden braking necessary situation, the virtual vehicle is generated in three dimensions to perform a predetermined sudden braking operation. In the navigation device according to any one of claims 1 to 7.
When the front vehicle is traveling in front of the own vehicle, the virtual vehicle generation unit generates the virtual vehicle so that the virtual vehicle travels between the own vehicle and the front vehicle. , A navigation device characterized by that. In the navigation device according to claim 8,
The virtual vehicle generation unit is generated so that the size of the virtual vehicle is reduced as the distance between the own vehicle and the vehicle in front becomes shorter so as not to overlap with the vehicle in front, and the distance becomes equal to or less than a predetermined value. A navigation device characterized in that the virtual vehicle is not generated in such a case.

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